A Hybrid Graph Theory Control Planning Method for the Optimal Path of an Intelligent Carrying Robot

An optimal path and local optimal path technology, applied in vehicle position/route/height control, non-electric variable control, control/regulation system and other directions, can solve the problem of many path points, large search range, and difficulty for robots to achieve path search and other problems to achieve the effect of speeding up the search speed, saving the search time, and realizing the real-time optimal path search.

Active Publication Date: 2018-06-29
CENT SOUTH UNIV
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[0005] The present invention provides a hybrid graph theory control planning method for an optimal path of an intelligent carrier robot. search situation

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  • A Hybrid Graph Theory Control Planning Method for the Optimal Path of an Intelligent Carrying Robot

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Embodiment Construction

[0055] The present invention will be further described below in conjunction with the drawings and embodiments.

[0056] Such as figure 1 As shown, an optimal path hybrid graph theory control planning method for an intelligent carrier robot includes the following steps:

[0057] Step 1: Construct a global map three-dimensional coordinate system for the carrying area of ​​the carrier robot, and obtain the coordinates of the walkable area in the global map three-dimensional coordinate system;

[0058] The ground center point of the carrying area is the origin, the true east direction is the X axis, the true north direction is the Y axis, and the vertical ground direction is the Z axis;

[0059] The carrying area of ​​the carrier robot is all floor connected areas in a building, and the walkable area refers to the area where obstacles in the building are removed from all the floor connected areas;

[0060] In the three-dimensional coordinate system of the global map, the two-dimensional pl...

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Abstract

The invention discloses an intelligent carrying robot optimal path hybrid graph theory control planning method. According to the method, the idea of hierarchical planning for the global path is put forward, local optimal path planning of each room or passageway acts as the minimum planning unit to search the optimal hub node of each floor, the local optimal paths of all the rooms or the passageways are connected to obtain the optimal path of a single floor, and finally the optimal paths between the floors are connected so as to obtain the complete global optimal path. The computational burden in the path planning process can be greatly reduced by the design of hierarchical planning, and path planning can be rapidly realized.

Description

Technical field [0001] The invention belongs to the field of robot path planning, and in particular relates to an optimal path hybrid graph theory control planning method for an intelligent carrying robot. Background technique [0002] With the rapid development of modern technology, robots have become one of the current research hotspots, and robot automated transportation has become an important development direction in the future. The logistics industry and scientific research industry have begun to use delivery robots to ensure transportation quality and improve transportation efficiency. Path planning, as one of the main technical problems of carrier robots, has also received widespread attention. The path planning of the carrier robot requires that the robot can autonomously perceive the surrounding environment, and quickly find a collision-free path from the starting point to the end point in a complex environment for the target task, and the path needs to meet the requir...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02
CPCG05D1/0214G05D1/0217G05D2201/0216
Inventor 李燕飞刘辉杨宇翔
Owner CENT SOUTH UNIV
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